异构非线性多智能体系统无模型输出一致性控制  

Model-free Output Consensus Control for Heterogeneous Nonlinear Multi-agent Systems

作　　者：孙一仆 陈鑫 贺文朋[1,2,3] 佘锦华 吴敏[1,2,3] SUN Yi-Pu;CHEN Xin;HE Wen-Peng;SHE Jin-Hua;WU Min(School of Automation,China University of Geosciences,Wuhan 430074,China;Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,Wuhan 430074,China;Engineering Research Center of Intelligent Technology for Geo-exploration,Ministry of Education,Wuhan 430074,China;Tokyo University of Technology,Tokyo 192-0982,Japan)

机构地区：[1]中国地质大学(武汉)自动化学院,武汉430074 [2]复杂系统先进控制与智能自动化湖北省重点实验室,武汉430074 [3]地球探测智能化技术教育部工程研究中心,武汉430074 [4]东京工科大学,日本东京192-0982

出　　处：《自动化学报》2025年第3期604-616,共13页Acta Automatica Sinica

基　　金：高等学校学科创新引智计划(B17040);湖北省科技创新重大专项(2020AEA010);国家自然科学基金(61873248);湖北省自然科学基金(2020CFA031);国家电网公司科技专项(52153216000R)资助。

摘　　要：针对异构非线性多智能体系统(Multi-agent system,MAS)的输出一致性控制难题,设计了一种基于同胚分布式控制协议的无模型方法.通过将输出反馈线性化理论与自适应动态规划相结合,可以在不需要精确系统模型的情况下实现非线性智能体的线性化,简化分布式控制器的设计复杂性.具体而言,设计一种双层分布式控制结构,在物理空间层通过无模型反馈线性化方法实现未知系统线性化,在微分同构空间层利用线性控制技术进行分布式共识控制.通过两个实验验证了所提方法在处理未知异构非线性多智能体系统中的有效性,将传统的线性分布式控制方法扩展到未知非线性多智能体系统的控制器设计.A model-free method based on homeomorphic distributed control protocol is proposed to address the output consensus control problem of heterogeneous nonlinear multi-agent systems(MASs).By integrating output feedback linearization theory with adaptive dynamic programming,this approach linearizes nonlinear agents without requiring precise system models,simplifying the design of distributed controllers.Specifically,a two-layer distributed control structure is designed:In the physical space layer,model-free feedback linearization is applied to linearize unknown systems,while in the diffeomorphic space layer,linear control techniques are used for distributed consensus control.The effectiveness of the proposed method in handling unknown heterogeneous nonlinear multi-agent systems is validated through two experiments,extending traditional linear distributed control methods to the design of controllers for unknown nonlinear multi-agent systems.

关 键 词：非线性多智能体系统 无模型输出共识控制 微分同胚 输入输出反馈线性化 自适应动态规划 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]